CN1628240A - Reconstruction of an angle signal from the signal of a sensor for angles of rotation - Google Patents
Reconstruction of an angle signal from the signal of a sensor for angles of rotation Download PDFInfo
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- CN1628240A CN1628240A CNA038033976A CN03803397A CN1628240A CN 1628240 A CN1628240 A CN 1628240A CN A038033976 A CNA038033976 A CN A038033976A CN 03803397 A CN03803397 A CN 03803397A CN 1628240 A CN1628240 A CN 1628240A
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- 238000000034 method Methods 0.000 claims abstract description 11
- 230000000737 periodic effect Effects 0.000 claims abstract description 8
- 230000007704 transition Effects 0.000 claims description 34
- 238000012545 processing Methods 0.000 claims description 20
- 230000008859 change Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000011156 evaluation Methods 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention relates to a method for reconstructing an angle signal (9) from a signal (7) of a sensor for angles of rotation (2). Said sensor comprises a periodic characteristic (5) which encompasses several segments (S) and in which points of discontinuity (8) occur. In order to reconstruct the angle signal (9), positive and negative jumps (a-d) of the sensor signal (7) are determined and a segment number (SN) is generated if a positive or negative signal jump (a-d) is detected. An evaluation unit (4) is able to reconstruct the angle signal (9) based on the segment number (SN) and the sensor signal (7).
Description
The present invention relates to a kind ofly from the sensor signal of a rotary angle transmitter, reproduce the method for an angle signal and relate to a kind of by claim 6 corresponding corner sensing device as described in the preamble by claim 1 is as described in the preamble.
Rotary angle transmitter is used for measuring the angle position of rotating object mostly.The general magnetic or the optical sensor that can carry out noncontacting measurement of all using.In the application examples of automotive field as being the bearing circle or the steering angle of measured automobiles.
Fig. 1 represents known a kind of measurement mechanism that is used for measuring the corner of a turning axle 1 that can rotate in the arrow A direction from prior art.Shown measurement mechanism comprises a sensor 2 that is connected with a processing unit 4 that is arranged on axle 1 the end, transmitter 3 actings in conjunction of this sensor 2 and a fixed and arranged.In this case, transmitter 3 comprises a permanent magnet, and this permanent magnet is for example responded to a voltage in sensor 2.As for example available Hall sensor of sensing element, reluctive transducer, magnetic transistor or the like.
A kind of typical rotary angle transmitter that is widely used for detection direction dish angle in automobile for example has the family curve shown in Fig. 2 a.As can be seen from this figure, the sensor signal α of sensor 2
sComprise whole measurement range (for example-800 ° and+steering wheel angle α between 800 °
L), so on the output terminal of sensor 2 or processing unit 4, export actual steering wheel angle α
LWhen carrying out a divertical motion of representing with Reference numeral 6 as Fig. 2 b, bearing circle is from zero-bit (α
L=0 °) forward block (α for example to the right to
L=800 °) and get back to zero-bit from this, so this divertical motion is clearly simulated by sensor 2.Why being step-like in the sensor signal shown in Fig. 2 b 7, is because relate to a digitized signal 7 in this example.
The shortcoming that has the sensor 2 of linear response in whole big range is that this sensor design is got up quite complicated, thereby relatively more expensive.
So the most handy other, sensor simple in structure carries out measurement of angle, this sensor does not need the counting assembly and the identification sense of rotation of turn over.Such sensor for example can be realized by a plurality of reluctance type sensing elements.
The sensor characteristic curve of this rotary angle transmitter for example is shown among Fig. 3 a.As can be seen from this figure, the range of rotary angle transmitter includes only a rotation angle α
LTotal range a part of scope (from-p to+p).In angle [alpha]
LExceed this part measurement range (for example-120 ° and+120 ° between) time, the family curve 5 of this sensor is periodically and repeats.Between the single cycle of family curve 5 (also can be described as section S), family curve 5 has a family curve transition 8 respectively.When this part measurement range of this rotary angle transmitter for example comprise-120 ° and+during angle between 120 °, the angle [alpha] in this scope then
LBe unique.And when rotation angle was 121 °, this rotary angle transmitter provided an output signal α
S, this output signal is equivalent to one-119 ° rotation angle.
So, rotatablely moving of an axle of representing with Reference numeral 6 in Fig. 3 b causes sensor signal 7, this sensor signal 7 can not be directly by the device 4 of a postposition for example a vehicle dynamics system handle because this sensor signal 7 is not unique.
So the objective of the invention is to reproduce an angle signal from a sensor signal with rotary angle transmitter multi-region section and produce family curve transition between these sections, this angle signal has reproduced the actual rotational angle of an object since this sensor starts.
According to the present invention, this purpose realizes by claim 1 and 6 described features.Other schemes of the present invention can be learnt from every dependent claims.
Positive or the negative signal transition that main design of the present invention is to monitor the sensor signal of rotation angle sensor and determines this sensor signal.When determining signal transition, produce a section value, the given actual rotation angle of measuring of this section value has been positioned at which section of this sensor characteristic curve since this sensor starts.A processing unit can draw actual total rotation angle of (since this sensor starts) and reappear a unique angle signal in simple mode from this section value and this sensor signal.So rotary angle transmitter that possible constructions is simple and cheap especially.
According to a preferred embodiment of the invention, the positive and negative signal transition of sensor signal is determined by the threshold value monitoring of the rate of change of this sensor signal.That is to say,, then be assumed to a signal transition if the pace of change of this sensor signal surpasses a predetermined threshold value.No matter be one positive (with less value to bigger value) or one negative (from bigger value to less value) signal transition, all can determine by more such plain mode of the angle value that provides by rotation angle sensor.
A sector counter preferably is set, and when rotation angle sensor started, this sector counter had a predetermined section value SN (for example SN=0), and when having a positive or negative signal transition, this section value for example increases or reduces.When the sensor characteristic curve shown in Fig. 3 a, under the situation that has a negative signal transition, this sector counter preferably increases by 1, and under the situation that has a positive signal transition, this sector counter then reduces 1.
Processing unit can reproduce actual angle signal in conjunction with corresponding section value in simple mode from this actual sensor signal.For this reason, this processing unit preferably adds sensor signal with an angle, and this sensor signal is the function of section value.For example an angle SN* α (S) is added in the sensor signal, wherein SN is the section value, and α (S) is an angle that is equivalent to this section value.
Corner sensing device of the present invention comprises a rotary angle transmitter, this rotary angle transmitter has the periodic characteristic curve of a multi-region section, between these sections, produce family curve transition, and comprise a processing unit, this processing unit can reappear an angle signal from this sensor signal and a section value, this angle signal has reproduced uniquely that the actual of a device rotatablely moves since this gyration sensor starts, and this processing unit carries out work in a manner described.
Exemplarily describe the present invention in detail below in conjunction with accompanying drawing.Accompanying drawing is represented:
Fig. 1 measures an example of a kind of measurement mechanism that the rotation angle of a turning axle uses;
Fig. 2 a is from the family curve of the known a kind of rotary angle transmitter of prior art;
The sensor signal of Fig. 2 b Fig. 2 a rotary angle transmitter;
Fig. 3 a has the sensor characteristic curve of a kind of known rotary angle transmitter of periodic characteristic curve;
The sensor output signal of Fig. 3 b Fig. 3 a sensor;
Fig. 4 a has the sensor signal of a kind of rotating shaft sensing device of periodic characteristic curve;
Fig. 4 b when having the signal of Fig. 4 a, the count results of a sector counter;
The angle signal that Fig. 4 c reproduces;
The schematic flow sheet of Fig. 5 main process steps when from a sensor signal, reproducing an angle signal.
Explanation about Fig. 1 to 3 can be with reference to the preface part of this instructions.
Fig. 4 a represents a sensor signal 7 with rotary angle transmitter 2 of periodic characteristic curve shown in Fig. 3 a.Signal transition a～the d of sensor signal 7 is the actual rotation angle α by axle 1
LSurpass that the part range limit of rotary angle transmitter 2 obtains, this will describe in detail by an example below.
In order to determine automobile steering wheel angle, for example available a kind of device shown in Figure 1.Rotation angle sensor 2 for example can be measured from-180 ° (p) to+180 ° of (rotation angle in+p) the part range.This part range is equivalent to the section S0 of the sensor characteristic curve of Fig. 3 a.Be positioned at this section S0 rotation angle in addition and show, thereby can not be a unique position data at identical range.That is the generation of one+185 ° angle resembles-175 ° of identical sensor output values of rotation angle.
When rotatablely moving when time point t1 exceeds the section limit+p of axle 1, sensor output signal takes place one and returns transition a and on the sensor output value of the next section S1 that jumps.The actual rotation angle α of axle 1
LBeing positioned at c1 to the c2 time period is the section 1 of Fig. 3 a sensor characteristic curve.
During to time point t2, rotation angle α
LBe lower than the section limit between section S0 and the S1 again.(Fig. 4 jumps to the terminal value of section S0 a) time so sensor signal is to time point t2.This positive transition is represented with Reference numeral b.So in section S0, actual rotation angle is between time point t2 and t3.
When this axle continued revolution, rotation angle was lower than the lower curtate limit-p of section S0, and sensor signal 1 then jumps to section S with a positive signal transition c (seeing Fig. 3 a family curve)
-1Terminal value.So actual rotation angle α
LBe positioned at section S
-1In.
When this sense of rotation oppositely and to the actual rotation angle of time point t4 surpasses section S between time point t3 and t4
-1And during the section limit between the section S0, then in sensor signal 7, produce a negative signal transition d.
The section at actual rotation angle (since sensor 2 starts) place is represented with a section value SN shown in Fig. 4 b.In addition, the rotation angle sensing device of Fig. 1 comprises a section value counter, this counter has a predetermined value (being preferably 0) when rotary angle transmitter starts, and this section value counter or increase or minimizing, and view 4a sensor signal produces the signal transition of plus or minus and decides.
A signal transition is discerned like this by signal processing unit 4, and promptly the signal rate of change of sensor signal surpasses a predetermined threshold value.Signal processing unit 4 can reproduce the angle signal 9 shown in Fig. 4 c now in a simple manner.In addition, this processing unit adds SN times of a section width in real sensor signal 7, and for example SN*360 °, wherein SN is the section value.
In above-mentioned example, suppose that axle 1 is positioned at zero position, promptly in the section S0 when shaft rotation sensor 2 starts.If but axle 1 is positioned at a section S0 angle position in addition, then angle signal 2 also must be proofreaied and correct this skew.The skew that exists when angular sensor 2 starts for example can be considered like this, promptly when sensor 2 disconnects, shaft position is stored (prerequisite is that when disconnecting sensor, axle 1 does not move).
In automobile, have in the situation of a steering wheel angle sensor, for example when igniting is connected, carry out the startup of sensor 2, and when igniting disconnects, carry out the disconnection of sensor 2.Because bearing circle generally pins in parking spot when igniting disconnects, so the angle position of bearing circle is equivalent to the position of bearing circle when disconnected last time when igniting recloses.
The for example also available additional sensor of other identification measures of the skew of rotary angle transmitter 2.
Fig. 5 represents to reproduce the key step of a kind of method of an angle signal 9 from the sensor signal 7 of a rotary angle transmitter 2, this rotary angle transmitter 2 has the periodic characteristic curve 3 of a multi-region section S, produces family curve transition 8 between these multi-region sections.
In first step 15, input sensor signal 7, and in step 16, the signal transition a～d of the positive and negative of acquisition sensor signal 7.When determining a signal transition, in step 17, produce a section value SN, this section value provides the actual rotation angle α that measures
LBe positioned at which section S of sensor characteristic curve 3.In step 18, processing unit 4 can draw the total angle of rotation since sensor 2 starts from sensor signal 7 and section value SN.For this reason, processing unit 4 for example adds an angle in the sensor signal signal 7, and this angle is the function of section value SN and section width.
The Reference numeral list
1 axle
2 sensors
3 transmitters
4 processing units
5 sensor characteristics curves
6 curve movements
7 sensor output signals
8 characteristic curve transition
9 angle signals that reproduce
15～18 method steps
The S section
The SN segment number
α
LCorner
α
SCorner by the sensor demonstration
+ p ,-p section the limit
T1～t4 time
A～d signal transition
Claims (10)
1. from the sensor signal (7) of a rotary angle transmitter (2), reproduce the method for an angle signal (9), this rotary angle transmitter has the periodic characteristic curve (5) of a multi-region section (S), between these sections, produce family curve transition (8), it is characterized in that having following step:
The signal transition of the positive and negative of-acquisition sensor signal (7) (a～d);
-determining that a signal transition (behind a～d), produces a section value (SN), the given actual corner (α who measures of this signal transition
L) be positioned at which section (S);
-reproduction angle signal (9) from sensor signal (7) and section value (SN).
2. by the method for claim 1, it is characterized by, the threshold value of the rate of change by sensor signal (7) monitors the signal transition of the positive and negative of acquisition sensor signal (7) (a～d).
3. by claim 1 or 2 method, it is characterized by, when detecting a positive or negative signal transition, this section value (SN) increases or reduces.
4. by each method of aforementioned claim, it is characterized by, angle of adding in the sensor signal (7) of reality, this angle is the function of section value and section width.
5. by each method of aforementioned claim, it is characterized by, reproduce the offset correction of angle signal (9).
6. the corner sensing device that has a rotary angle transmitter (2) and a processing unit (4), the range of this rotation angle sensor includes only a part of scope (p of total range, + p) and the periodic characteristic curve (5) of this rotary angle transmitter with multi-region section (S), between these family curves, produce family curve transition (8), it is characterized by, processing unit (4) is provided with and is used for the signal transition (a～d) of positive and negative of acquisition sensor signal (7), occur a positive or negative signal transition (determine a new section value (SN) respectively behind a～d), and from sensor signal (7) and section value (SN) a reproduction unique angle signal (9).
7. by the corner sensing device of claim 6, it is characterized by, the threshold value of processing unit (4) monitoring sensor signal (7), in case the signal transition of detection positive and negative (a～d).
8. by claim 6 or 7 corner sensing device, it is characterized by, processing unit (4) comprises a sector counter, and (during a～d), this counter increases or reduces in the signal transition of surveying a plus or minus.
9. by each corner sensing device of claim 6 to 8, it is characterized by, processing unit (4) adds an angle in the sensor signal (7) respectively, and this angle is the function of section value (SN) and section width.
10. by each corner sensing device of claim 6 to 9, it is characterized by the skew recognition device when being provided with the corner sensing device and starting.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE10255468.4 | 2002-11-28 | ||
| DE10255468A DE10255468A1 (en) | 2002-11-28 | 2002-11-28 | Reconstruction of an angle signal from the sensor signal of a rotation angle sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1628240A true CN1628240A (en) | 2005-06-15 |
Family
ID=32308792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA038033976A Pending CN1628240A (en) | 2002-11-28 | 2003-07-08 | Reconstruction of an angle signal from the signal of a sensor for angles of rotation |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20060225524A1 (en) |
| EP (1) | EP1585941A1 (en) |
| CN (1) | CN1628240A (en) |
| DE (1) | DE10255468A1 (en) |
| WO (1) | WO2004051193A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8396628B2 (en) * | 2010-02-01 | 2013-03-12 | Ford Global Technologies | Power on demand steering wheel angle sensor |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3689831B2 (en) * | 1997-07-16 | 2005-08-31 | 光洋電子工業株式会社 | Absolute encoder |
| JP3464195B2 (en) * | 2000-06-23 | 2003-11-05 | 株式会社村田製作所 | Magnetic sensor, magnetic sensor device, and torque sensor |
-
2002
- 2002-11-28 DE DE10255468A patent/DE10255468A1/en not_active Withdrawn
-
2003
- 2003-07-08 EP EP03797956A patent/EP1585941A1/en not_active Withdrawn
- 2003-07-08 WO PCT/DE2003/002261 patent/WO2004051193A1/en not_active Application Discontinuation
- 2003-07-08 US US10/537,033 patent/US20060225524A1/en not_active Abandoned
- 2003-07-08 CN CNA038033976A patent/CN1628240A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| US20060225524A1 (en) | 2006-10-12 |
| EP1585941A1 (en) | 2005-10-19 |
| DE10255468A1 (en) | 2004-06-09 |
| WO2004051193A1 (en) | 2004-06-17 |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |